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A new yaw moment control algorithm with differential braking control is presented in this paper. The proposed controller utilizes the anti-lock braking system (ABS) to apply differential braking between the right and left wheels to generate the yaw moment. A fuzzy logic based ABS controller is also designed. As the vehicle side-slip angle can not be measured under reasonable cost, a nonlinear observer...
In this study, we propose intersection collision avoidance system in preventing traffic crashes at typical urban intersections. The proposed intersection crash prevention system would display the crash warning messages to the drivers when crash-prone conditions are detected through the sensor system installed along intersection approaches. It would further change the traffic signal setting in real-time,...
Awareness to a vehicle's surrounding is necessary for safe driving. Current surround technologies focus on the detection of obstacles in hard-to-view places but may neglect temporal information. This paper seeks the causes of dangerous situations by examining surround behavior. A general hierarchical learning framework is introduced to automatically learn surround behaviors. By observing motion trajectories...
The brake system is one of the most critical components of a motor vehicle that ensure its safe operation. Current heavy commercial vehicles commonly use a S-cam air brake system, where compressed air is used as the medium to transmit the energy needed for braking. An Antilock Braking System (ABS) is an important safety device that ensures the stability and steerability of vehicles during braking...
Motivated by the requirement of Formula Manipal, Manipal University's official entry into Formula SAE (Society of Automotive Engineers), a DAQ (Data acquisition) system was designed. This document describes the approach used to achieve the primary design goal of overall reduction in acquisition to analysis time. The DAQ system for Formula Manipal needed to be rugged, deterministic, modular, flexible,...
Recent literature has introduced several methods for processing an out-of-sequence measurement (OOSM) in tracking for both the 1-step-lag and ??-step-lag case. However, in a realistic tracking application, a data association algorithm, such Joint Probabilistic Data Association (JPDA) must be used in order to associate measurements with tracks in a cluttered environment. This paper investigates the...
In this paper, we propose a comprehensive system with a novel approach, that uses a plurality of ranging sensors in a single framework, for on-road vehicle safety. Based on different activation conditions, this generic framework would assist during different driving scenarios viz. Collision warning, overtake assist, parallel parking assist, adaptive cruise control, and door opening warning.
This paper presents an optimal energy management strategy based on fuzzy logic for a Hybrid Electric Vehicle (HEV) with parallel structure. The proposed strategy maximizes the output torque of the vehicle while minimizing fuel consumption and emission in comparison to the combustion engines. The fuzzy logic controller will be designed based on the state of charge of batteries and the desired torque...
Scheduling messages with offsets is proved to be an effective method to reduce the Worst Case Response time (WCRT) for messages on the CAN bus. But there is no method available in related literatures except some commercial tools to calculate WCRT for messages with offsets. Conventional method assumes that a so-called critical instant exists, but it doesn't happen at most case. This paper proposes...
In this paper, the impact of the knowledge of non local traffic state through vehicular ad hoc network (VANET) communication on traffic stability is studied through microscopic traffic simulation. In particular, the effect of this communication through modification of driver behavior is evaluated. Intra-driver behavior such as non negligible reaction time, anticipation, limited attention spans and...
Motivated from a basic tip for safe driving, "Keeping Hands on the Wheel and Eyes on the Road", this paper introduces a vision based system for driver activity analysis by observing 3D movement of driver's head and hands from multiview video. From the results of upper body and head pose tracking, semantic descriptions of driver activities are extracted in two steps: First, we determine basic...
Two main types of motor can be used for vehicular application-BLDC and the Induction Motors. This paper compares the performance of a BLDC motor driver system using PWM with that of an induction motor drive also fed from a PWM Inverter. The induction motor is operated under efficiency optimization mode where as the BLDC motors are having inherent high efficiency property. The simulation and experimental...
In this paper, cognitive load analysis via acoustic-and CAN-Bus-based driver performance metrics is employed to assess two different commercial speech dialog systems (SDS) during in-vehicle use. Several metrics are proposed to measure increases in stress, distraction and cognitive load and we compare these measures with statistical analysis of the speech recognition component of each SDS. It is found...
This paper points to a component technology of driver monitoring system which has not been explored yet, namely, automated camera calibration. It proposes that the calibration should not be left to be done manually, as is the case now, but should be automated. In particular, this paper describes an algorithm to automatically update the camera parameters of the in-vehicle driver monitoring camera system...
The number of vehicles on the road as well as the human drive time is increasing significantly. Many drivers are increasing their attempts to multi-task while driving including eating, drinking, entertainment control etc. A relatively new domain has emerged over the last 5 years focused on increased technology in the vehicle based on: GPS navigation systems, traffic, weather warning systems, advanced...
Data association is one of the crucial parts in the reliable objects' tracking system. In this paper, a methodology for data association using an Oriented Bounding Box based object representation is presented. A laser scanner sensor is used for objects perception. A data association algorithm for coalescing objects is described. The algorithm is based on the Nearest Neighbours principle enriched by...
In this paper, we investigate the performance of recently proposed driver-behavior modeling techniques for car-following task based on Gaussian mixture model (GMM) and piecewise auto regressive exogenous (PWARX) algorithms. Both driver-behavior modelings are employed to anticipate car-following driving behavior in terms of pedal control behavior (brake and gas/accelerator pedal operation) in response...
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